dynamic Colormap

[ColinSmith123]

Hello everybody I have a smal problem.

I need colored depth images that look like this :

(dynamic black and white)

the closest I can get is this:

is there a colormap preset for pyhton, that looks like the "dynamic black and white" in the Intel RS Viewer?

Thanks :)

[dorodnic]

Hi @ColinSmith123
Yes, you can set_option on the colorizer object in python. I don't remember the exact options, but something like rs2.option.color_scheme and rs2.option.histogram_equalization_enabled (set to 1)

[ColinSmith123]

Hello @dorodnic

thanks for your fast answer. unfortunately, I guess I need a little more help.

here is my code, maybe you immediately see what needs to be changed.

`
import pyrealsense2 as rs
import numpy as np
import cv2

subject = '/A'
surface = '/C'
object = r'/003'
NrFrames = 27005

rgb = r'/rgb'
training = r'/training'
dirD = r'C:\DataSet\data';

pipeline = rs.pipeline()
config = rs.config()

config.enable_stream(rs.stream.depth, 848, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 848, 480, rs.format.bgr8, 30)

profile = pipeline.start(config)

depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
print("Depth Scale is: " , depth_scale)

align_to = rs.stream.color
align = rs.align(align_to)

for i in range(NrFrames):
frames = pipeline.wait_for_frames()

    aligned_frames = align.process(frames)       
    aligned_depth_frame = aligned_frames.get_depth_frame() 
    color_frame = aligned_frames.get_color_frame()
    
    if not aligned_depth_frame or not color_frame:
        continue
    
    depth_image = np.asanyarray(aligned_depth_frame.get_data())
    color_image = np.asanyarray(color_frame.get_data())
    
    depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.1, beta=0.11), cv2.COLORMAP_HOT)
    images = np.hstack((color_image, depth_colormap))
    
    cv2.namedWindow('Align Example', cv2.WINDOW_AUTOSIZE)
    cv2.imshow('Align Example', images)
    key = cv2.waitKey(1)
    
    if key & 0xFF == ord('q') or key == 27:
        cv2.destroyAllWindows()
        break
    
    print(i)
    
    depthFlip = np.flipud(depth_colormap)
    rgbFlip = np.flipud(color_image)

    cv2.imwrite(dirD + subject + surface + object + training + "/depth%d.jpg" % i, depth_colormap)
    cv2.imwrite(dirD + subject + surface + object + rgb + "/rgb%d.jpg" % i, color_image)
    cv2.imwrite(dirD + subject + surface + object + training + "/depthflip%d.jpg" % i, depthflip)
    cv2.imwrite(dirD + subject + surface + object + rgb + "/rgbflip%d.jpg" % i, rgbFlip)

else:
cv2.destroyAllWindows()
pipeline.stop()

`

Thanks a lot!!

[ColinSmith123]

Meanwhile I found this in another issue ( How to use the function colorlizer in matlab or python? #2520 )

I tried to implement this and using the colorizer instead of cv-colormap works but I can't change the color_scheme.

I get this error:

File "", line 58, in
colorizer.set_option(rs.option.color_scheme, 2);

TypeError: set_option(): incompatible function arguments. The following argument types are supported:
1. (self: pyrealsense2.options, option: pyrealsense2.option, value: float) -> None

Invoked with: <pyrealsense2.colorizer object at 0x0000028EE3219DF8>, 1, 2

whats the problem? sorry I know I am not a good programmer and new to this field

Any help would be appreciated :)

[lramati]

What version of pyrealsense2 are you using?
In the meantime, so long as you don't want to change the color scheme mid-program, you should be able to just create the colorizer with the desired scheme using colorizer = rs.colorizer(2)

[ColinSmith123]

@iramati thanks aaaaallooott it works!

Thanks to everybody else :)